Publication detail

Hexacopter Pitch Estimator for a Pitch Stabilizer

BARÁNEK, R. ŠOLC, F.

Original Title

Hexacopter Pitch Estimator for a Pitch Stabilizer

Czech Title

Estimátor náklonu pro stabilizaci náklonu hexakopteru

English Title

Hexacopter Pitch Estimator for a Pitch Stabilizer

Type

conference paper

Language

en

Original Abstract

The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.

Czech abstract

The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.

English abstract

The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.

Keywords

hexacopter, quadrotor, control, flying robot, Luenberger-Kalman observer

RIV year

2013

Released

25.09.2013

Publisher

IFAC-PapersOnLine / Elsevier

Location

IFAC-PapersOnLine 10344 Virginia Lee Dr. Centerville, OH 45458, U.S.A.

ISBN

978-3-902823-21-2

Book

Proceedings of the IFAC/IEEE PDES 2012 International Conference

Pages from

326

Pages to

329

Pages count

4

BibTex


@inproceedings{BUT102859,
  author="Radek {Baránek} and František {Šolc}",
  title="Hexacopter Pitch Estimator for a Pitch Stabilizer",
  annote="The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.",
  address="IFAC-PapersOnLine / Elsevier",
  booktitle="Proceedings of the IFAC/IEEE PDES 2012 International Conference",
  chapter="102859",
  doi="10.3182/20130925-3-CZ-3023.00021",
  howpublished="online",
  institution="IFAC-PapersOnLine / Elsevier",
  year="2013",
  month="september",
  pages="326--329",
  publisher="IFAC-PapersOnLine / Elsevier",
  type="conference paper"
}